On larger ROV/position systems You can use USBL for “follow sub” mode.
That means the ship is following the sub/ROV automatic, or manual.
A way to do this with more moderate budgets could be software integration with ship existing navigation systems.
A standard way for position input into navigation systems is AIS Surface targetting.
Many computer based navigation systems have possibility to input NMEA AIS sentences.
Could be via virtual COM ports through TCP/IP or UDP.
That means they could be merged with Surface AIS.
Software could be open source “OpenCPN” or others.
By that way You could set up survey route and navigation in helms position, together with ROV actual position.
So: Is there a future way in “Underwater GPS” to send actual ROV position as AIS to other computers?